Refactor promises in PositionService

memristor · Dec 13, 2016 · fde761a · fde761a
1 parent a98f3fa
commit fde761a
Show file tree

Hide file tree

Showing 3 changed files with 19 additions and 29 deletions.
diff --git a/src/services/path/pathfinding/lib/Makefile~ b/src/services/path/pathfinding/lib/Makefile~
diff --git a/src/services/position/PositionService.js b/src/services/position/PositionService.js
@@ -100,14 +100,29 @@ class PositionService {
                     points.splice(0, 1);
                     positionService._basicSet(point, direction, tolerance, speed).then(goToNext);
                     return;
-                }
-                resolve();
+                } else {
+                	resolve();
+				}
             }
 
             goToNext();
         });
     }
 
+	_promiseToReachDestionation() {
+		return new Promise((resolve, reject) => {
+            this.motionDriver.on('stateChanged', (state) => {
+                if (state === MotionDriverConstants.STATE_IDLE) {
+                    resolve();
+                }
+                else if (state === MotionDriverConstants.STATE_ERROR ||
+                    state === MotionDriverConstants.STATE_STUCK) {
+                    reject(state);
+                }
+            });
+        });
+	}
+
     _basicSet(point, direction, tolerance, speed) {
         // Set speed
         if (speed !== undefined && this.currentSpeed !== speed) {
@@ -127,33 +142,13 @@ class PositionService {
         Mep.Log.debug(TAG, 'Robot move command sent.', point);
 
         // Check when robot reached the position
-        return new Promise((resolve, reject) => {
-            this.motionDriver.on('stateChanged', (state) => {
-                if (state === MotionDriverConstants.STATE_IDLE) {
-                    resolve();
-                }
-                else if (state === MotionDriverConstants.STATE_ERROR ||
-                    state === MotionDriverConstants.STATE_STUCK) {
-                    reject(state);
-                }
-            });
-        });
+        return this._promiseToReachDestionation();
     }
 
 	arc(point, angle, direction) {
 		this.motionDriver.moveArc(point.getX(), point.getY(), angle, direction);
 
-		return new Promise((resolve, reject) => {
-		    this.motionDriver.on('stateChanged', (state) => {
-		        if (state === MotionDriverConstants.STATE_IDLE) {
-		            resolve();
-		        }
-		        else if (state === MotionDriverConstants.STATE_ERROR ||
-		            state === MotionDriverConstants.STATE_STUCK) {
-		            reject(state);
-		        }
-		    });
-		});
+		return this._promiseToReachDestionation();
 	}
 
     rotate(tunedAngle, options) {

diff --git a/src/utils/DriverChecker.js b/src/utils/DriverChecker.js
@@ -34,9 +34,6 @@ class DriverChecker {
         if (typeof driver.getPosition !== 'function') {
             throw TypeError(driverClassName + ' requires method getPosition()');
         }
-        if (driver.getPosition().constructor.name !== 'Point') {
-            throw TypeError('Method '+ driverClassName +'.getPosition() must return Point');
-        }
     }
 
     static _checkTerrain(driver) {